CN114013988B - SSD transfer method and device, readable storage medium and electronic equipment - Google Patents

SSD transfer method and device, readable storage medium and electronic equipment Download PDF

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Publication number
CN114013988B
CN114013988B CN202111264675.3A CN202111264675A CN114013988B CN 114013988 B CN114013988 B CN 114013988B CN 202111264675 A CN202111264675 A CN 202111264675A CN 114013988 B CN114013988 B CN 114013988B
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Prior art keywords
information
ssd
transferred
placement groove
slave
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CN114013988A (en
Inventor
孙成思
孙日欣
杨羽
徐永刚
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Huizhou Baiwei Storage Technology Co ltd
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Huizhou Baiwei Storage Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30148—Semiconductor; IC; Wafer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management

Abstract

The invention discloses a transfer method, a device, a readable storage medium and electronic equipment of an SSD, wherein the method comprises the steps of obtaining SSD size information to be transferred and corresponding Tray disc information to be placed, further obtaining the central position of the SSD to be transferred and the central position of the Tray disc to be placed, comparing the SSD size information to be transferred and the Tray disc information to be placed, and obtaining depth information of a corresponding slave placement groove, so that the central position of the SSD and the center of the Tray disc are aligned, and finally, products are accurately placed in the corresponding slave placement groove according to the depth information of the slave placement groove, so that the SSD can be matched with the slave placement groove with different sizes in the Tray disc and transferred, and further the efficiency of the equipment for transferring the SSD is improved.

Description

SSD transfer method and device, readable storage medium and electronic equipment
Technical Field
The present invention relates to the field of SSD production testing, and in particular, to a method and apparatus for transferring an SSD, a readable storage medium, and an electronic device.
Background
SSD (Solid State Disk) is widely used, and is widely used in various storage environments in practical applications. And SSD is required to be read and written in various simulated environments before leaving the factory. The SSD is tested in a high-temperature environment, a low-temperature environment and the like, and products with hidden defects and instability are screened out, so that each performance and parameter of the products delivered from the SSD are guaranteed to meet the industrial use requirements, and in order to guarantee the production efficiency, a full-automatic detection mode is generally used, wherein the automatic taking and placing of the SSD is involved.
At present, when the SSD is sucked, the SSD full-automatic detection device needs to prevent the situation that the plugging of the SSD is affected due to inclination in the sucking process. Aiming at SSDs with different length sizes, if the SSDs are placed in different tray discs, the alignment position needs to be adjusted for each sucking operation to ensure the balance of the SSDs during sucking operation. Moreover, the production of SSDs of different sizes requires the adjustment of the position of the robot according to the SSD position. Therefore, the robot needs to be adjusted according to different SSDs and Tray discs. However, the robot is complicated to adjust and consumes a lot of time. And a lot of time is consumed to replace the Tray disk, which eventually reduces the transfer efficiency of the SSD.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the SSD transferring method improves equipment transferring efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
a transfer method of an SSD, comprising the steps of:
acquiring SSD size information to be transferred and corresponding Tray information to be placed;
obtaining the central position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placing groove on the Tray to be placed according to the SSD size information to be transferred;
obtaining the central position of the main placing groove according to the information of the Tray to be placed, wherein the main placing groove comprises a plurality of auxiliary placing grooves with different sizes and the central positions on the same vertical line;
matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
and aligning the center position of the SSD to be transferred with the center position of the slave placing groove, and placing the SSD to be transferred in the slave placing groove of the Tray to be placed according to the placing groove depth information.
In order to solve the technical problems, the invention adopts another technical scheme that:
a transfer device of an SSD, comprising:
the acquisition module is used for acquiring SSD size information to be transferred and corresponding Tray disc information to be placed;
the first calculation module is used for obtaining the center position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placement groove on the Tray to be placed according to the SSD size information to be transferred;
the second calculation module is used for obtaining the center position of the main placement groove according to the Tray disc information to be placed; the main placing groove comprises a plurality of auxiliary placing grooves which are different in size and have the same vertical line in the center position;
the matching module is used for matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
and the placement module is used for aligning the center position of the SSD to be transferred with the center position of the slave placement groove and placing the SSD to be transferred in the slave placement groove of the Tray disk to be placed according to the depth information of the placement groove.
In order to solve the technical problems, the invention adopts another technical scheme that:
a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of a method of transferring an SSD as described above.
In order to solve the technical problems, the invention adopts another technical scheme that:
an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in a method of transferring an SSD as described above when the computer program is executed.
The invention has the beneficial effects that: the method comprises the steps of obtaining SSD size information to be transferred and corresponding Tray disc information to be placed, further obtaining the central position of the SSD to be transferred and the central position of the Tray disc to be placed, comparing the SSD size information to be transferred with the Tray disc information to be placed, and obtaining the depth information of the corresponding slave placement groove, so that the central position of the SSD and the center of the Tray disc can be aligned, and finally products can be accurately placed in the corresponding slave placement groove according to the depth information of the slave placement groove, so that the SSD can be matched with the slave placement grooves with different sizes in the Tray disc and transferred, and further the efficiency of the device for transferring the SSD is improved.
Drawings
FIG. 1 is a flow chart of steps of a method for transferring SSD according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a transfer device of an SSD according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an operation of SSD transfer according to an embodiment of the invention.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1, a method for transferring SSD includes the steps of:
acquiring SSD size information to be transferred and corresponding Tray information to be placed;
obtaining the central position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placing groove on the Tray to be placed according to the SSD size information to be transferred;
obtaining the central position of the main placing groove according to the information of the Tray to be placed, wherein the main placing groove comprises a plurality of auxiliary placing grooves with different sizes and the central positions on the same vertical line;
matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
and aligning the center position of the SSD to be transferred with the center position of the slave placing groove, and placing the SSD to be transferred in the slave placing groove of the Tray to be placed according to the depth information of the placing groove.
From the above description, the beneficial effects of the invention are as follows: the invention has the beneficial effects that: the method comprises the steps of obtaining SSD size information to be transferred and corresponding Tray disc information to be placed, further obtaining the central position of the SSD to be transferred and the central position of the Tray disc to be placed, comparing the SSD size information to be transferred with the Tray disc information to be placed, and obtaining the depth information of the corresponding slave placement groove, so that the central position of the SSD and the center of the Tray disc can be aligned, and finally products can be accurately placed in the corresponding slave placement groove according to the depth information of the slave placement groove, so that the SSD can be matched with the slave placement grooves with different sizes in the Tray disc and transferred, and further the efficiency of the device for transferring the SSD is improved.
Further, the obtaining the SSD size information to be transferred and the corresponding Tray disc information to be placed includes:
acquiring the image information of the SSD to be transferred and the image information of the Tray;
obtaining SSD size information to be transferred according to the image information of the SSD to be transferred;
obtaining the Tray disc information to be placed according to the image information of the Tray disc, wherein the Tray disc information comprises the size information of the main placing groove;
the obtaining the center position of the main placement groove according to the to-be-placed Tray disc information comprises the following steps:
and calculating the center position of the main placing groove according to the size information of the main placing groove.
From the above description, it can be seen that by acquiring the image information of the Tray and the image information of the SSD to be transferred, and calculating to obtain the corresponding size information and the center position of the Tray and the SSD, the device can automatically acquire the corresponding size information, and the information of the product to be transferred does not need to be manually input, so that the automatic acquisition of the size information is realized.
Further, the matching the SSD size information to be transferred with the slave placement slot, and obtaining depth information of the slave placement slot includes:
obtaining the size information of each slave placing groove according to the image information of the Tray;
comparing the SSD size information to be transferred with the size information of each slave placement groove until the size information of the slave placement groove matched with the SSD size to be transferred is obtained;
and obtaining depth information of the secondary placement groove according to the size information of the secondary placement groove.
As can be seen from the above description, by acquiring the size information of each slave placement slot and comparing the size information of each slave placement slot with the size information of the SSD to be transferred until the size information of the slave placement slot corresponding to the size of the SSD to be transferred is obtained, it is ensured that the SSD can be matched with the slave placement slot, and meanwhile, the depth information of the placement slot is acquired, so that the subsequent suction device can grasp the SSD product conveniently.
Further, comparing the size information of the SSD to be transferred with the size information of each slave placement slot, and obtaining the size information of the slave placement slot adapted to the size of the SSD to be transferred includes:
obtaining the width-to-length ratio information of each secondary placement groove according to the image information of the Tray disk;
obtaining the width-to-length ratio information of the SSD to be transferred according to the SSD size information to be transferred;
and matching the width-to-length ratio information of the SSD to be transferred with the width-to-length ratio information of each slave placing groove to obtain the size information of the slave placing groove which is matched with the SSD to be transferred in size.
From the above description, it can be seen that by acquiring and matching the width-to-length ratio information of the slave placement groove and the to-be-transferred SSD, matching is not required to be performed through the three-dimensional pattern, and accurate matching can be performed only by acquiring the dimensional relationship of the two-dimensional plane, so that the difficulty of data acquisition is reduced and the matching accuracy is ensured.
Further, before obtaining the depth information of the secondary placement groove according to the size information of the secondary placement groove, the method includes:
establishing and storing a one-to-one correspondence between the preset size information of the secondary placement groove and the depth information of the secondary placement groove;
the obtaining the depth information of the secondary placement groove according to the size information of the secondary placement groove comprises the following steps:
matching preset size information of the secondary placement groove, which is identical to the size information of the secondary placement groove, according to the size information of the secondary placement groove;
and obtaining depth information of the secondary placing groove according to the preset size information of the secondary placing groove.
As is apparent from the above description, by establishing and storing a one-to-one correspondence between the preset size information of the slave placement groove and the depth information of the slave placement groove, the corresponding depth information can be more rapidly acquired by matching whether the measured size information and the preset size information are identical in the size matching process.
Further, the placing the SSD to be transferred in the slave placement groove of the Tray to be placed according to the placement groove depth information includes:
acquiring the height information of the Tray;
obtaining placement space position information according to the height information of the Tray and the depth information of the placement groove;
and placing the SSD to be transferred in the slave placing groove of the Tray to be placed according to the placing space position information.
According to the description, the height information of the Tray is removed later, the corresponding placement groove depth information is combined to obtain the placement space position information, and then the SSD to be transferred is placed in the secondary placement groove according to the placement space position information, so that the situation that the SSD product is placed unstably or is not placed in the corresponding secondary placement groove due to the fact that the height calculation error in the placement process is avoided.
Further, the aligning the center position of the SSD to be transferred with the center position of the slave placement groove includes:
establishing a coordinate system to be placed according to the track disc information to be placed;
generating a central position coordinate of each main placing groove according to the coordinate system to be placed;
generating a position coordinate of each slave placing groove according to the central position coordinate of the master placing groove and the size information of the slave placing groove;
and aligning the central position of the SSD to be transferred with the central position of the slave placing groove according to the central position coordinates of the master placing groove and the position coordinates of the slave placing groove.
From the above description, the corresponding placement coordinate system is established through the Tray information to be placed, so that not only the position of each slave placement groove can be accurately positioned, but also the central position coordinate of each master placement groove can be positioned, and the matching precision between the SSD product and the slave placement groove is greatly improved.
Referring to fig. 2, another embodiment of the present invention provides a transfer device for SSD, including:
the acquisition module is used for acquiring SSD size information to be transferred and corresponding Tray disc information to be placed;
the first calculation module is used for obtaining the center position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placement groove on the Tray to be placed according to the SSD size information to be transferred;
the second calculation module is used for obtaining the center position of the main placement groove according to the Tray disc information to be placed; the main placing groove comprises a plurality of auxiliary placing grooves which are different in size and have the same vertical line in the center position;
the matching module is used for matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
and the placement module is used for aligning the center position of the SSD to be transferred with the center position of the slave placement groove and placing the SSD to be transferred in the slave placement groove of the Tray disk to be placed according to the depth information of the placement groove.
Another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a transfer method of an SSD as described above.
Referring to fig. 3, another embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements each step in a method for transferring an SSD as described above when executing the computer program.
The above-mentioned SSD transfer method, device, computer readable storage medium and electronic equipment of the present invention can be applied to the transfer in the process of testing and producing SSD products of various models and sizes, and the following description is given by specific embodiments:
example 1
A transfer method of an SSD, comprising the steps of:
s1, acquiring SSD size information to be transferred and corresponding Tray information to be placed;
acquiring the image information of the SSD to be transferred and the image information of the Tray; obtaining SSD size information to be transferred according to the image information of the SSD to be transferred; obtaining the Tray disc information to be placed according to the image information of the Tray disc, wherein the Tray disc information comprises the size information of the main placing groove;
s2, obtaining the center position of the SSD to be transferred according to the SSD size information to be transferred, and matching a main placing groove on the Tray to be placed according to the SSD size information to be transferred;
if SSD with the same size as the current size is placed in the current main placement groove, the SSD is not matched; or if the size of the placed SSD in the current main placement groove is larger than the size of the current SSD, the representations are not matched; judging whether the current main placing groove can accommodate the SSD to be transferred or not, and if not, judging the next main placing groove;
s3, obtaining the central position of the main placing groove according to the track disc information to be placed;
calculating the central position of the main placing groove according to the size information of the main placing groove; the main placing grooves comprise a plurality of auxiliary placing grooves which are different in size and have the same vertical line in the center position;
s4, matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
obtaining the size information of each slave placing groove according to the image information of the Tray; comparing the SSD size information to be transferred with the size information of each slave placement groove until the size information of the slave placement groove matched with the SSD size to be transferred is obtained; and obtaining the width-to-length ratio information of each slave placing groove according to the image information of the Tray disc, wherein the width-to-length ratio information is specifically:
obtaining the width-to-length ratio information of the SSD to be transferred according to the SSD size information to be transferred; matching the width-to-length ratio information of the SSD to be transferred with the width-to-length ratio information of each slave placement groove to obtain the size information of the slave placement groove matched with the SSD to be transferred in size;
simultaneously, before transferring SSD products, establishing and storing a one-to-one correspondence between preset size information of the secondary placement groove and depth information of the secondary placement groove; matching preset size information of the slave placement groove, which is identical to the size information of the slave placement groove, according to the size information of the slave placement groove obtained from the Tray image; obtaining depth information of the secondary placement groove according to the size information of the secondary placement groove;
in an alternative embodiment, the full-automatic acquisition of the information of the Tray can be realized by setting equipment such as infrared equipment and the like for ranging to measure the height information of the Tray, the corresponding depth information of the main placing groove and the auxiliary placing groove;
s5, aligning the center position of the SSD to be transferred with the center position of the slave placement groove, and placing the SSD to be transferred in the slave placement groove of the Tray to be placed according to the depth information of the placement groove;
acquiring the height information of the Tray; obtaining placement space position information according to the height information of the Tray and the depth information of the placement groove; and placing the SSD to be transferred in the slave placing groove of the Tray to be placed according to the placing space position information.
Example two
The present embodiment differs from the first embodiment in that how center position alignment is achieved is specifically defined;
in S3, a coordinate system to be placed is established according to the track disc information to be placed; generating a central position coordinate of each main placing groove according to the coordinate system to be placed; generating a position coordinate of each slave placing groove according to the central position coordinate of the master placing groove and the size information of the slave placing groove; aligning the center position of the SSD to be transferred with the center position of the slave placement groove according to the center position coordinates of the master placement groove and the position coordinates of the slave placement groove; SSD can be placed in the slave placement groove of the Tray in sequence through the sequence of the position coordinates;
in an actual application scenario:
referring to fig. 2, for example, the first product is pcie2280 with a size of 80mm x 22mm x 3.5mm; the second product is of model pcie2260, size 60mm x 22mm x 3.5mm; the model of the third product is p cie2242, and the size is 42mm x 22mm x 3.5mm; the model of the fourth product is pcie2230, and the size is 30 mm x 22mm x 3.5mm;
one of the master placing grooves in the Tray comprises four slave placing grooves, namely a first slave placing groove: 80.4mm x 22.2mm x 6.5mm; second slave placement groove: 60.4mm x 22.2mm x 4.5mm, aspect ratio about 3; third slave placement groove: 42.4mm x 22.2mm x 4.5mm, aspect ratio about 2; fourth slave placement groove: 30.4 mm x 22.2mm x 5.5mm, aspect ratio about 1.5; taking the upper surface of the Tray as a first horizontal plane, setting the depth of a first secondary placing groove to be 6.5mm, setting the depth of a second secondary placing groove to be 11mm, and the like, and establishing and storing a one-to-one correspondence between the preset size information of the secondary placing groove and the depth information of the secondary placing groove; i.e. the aspect ratio of the first slave placement groove is about 4, corresponding to a depth of 6.5mm; the aspect ratio from the placement tank is about 3, and the corresponding depth is 11mm; the aspect ratio of the third secondary placement groove is about 2, and the corresponding depth is 15.5mm; the fourth slave placement groove has an aspect ratio of about 4 and a corresponding depth of 21mm;
in an alternative embodiment:
s1, a manipulator simultaneously acquires SSD size information to be transferred from a product placement area of an SSD, and acquires corresponding Tray information to be placed in an area corresponding to a Tray; the method comprises the steps of obtaining image information of each SSD product, and obtaining size information of the corresponding SSD product according to the image information; when the SSD product is placed for the first time, firstly acquiring an SSD product with the smallest size, namely a fourth product;
s2, obtaining the center position of a fourth product according to the size information of the fourth product, and matching the main placing groove on the Tray to be placed according to the SSD size information to be transferred;
s3, establishing a coordinate system to be placed by acquiring an image of the Tray and height information corresponding to the Tray, and simultaneously generating a central position coordinate of each main placing groove and a position coordinate of each auxiliary placing groove; acquiring the position coordinates of a main placing groove with the minimum position coordinates in a coordinate system to be placed;
s4, matching the size information of the fourth product with the sizes of the four slave placing grooves to obtain a slave placing groove matched with the size information of the fourth product as a fourth slave placing groove; and according to the corresponding height information: the sinking depth of the fourth placing groove is 21mm, and the thickness of the product is 3.5mm; the extending distance of the manipulator sucker is 17.5mm;
s5, aligning the center position of the fourth product with the center position of the fourth slave placing groove by the mechanical arm, and placing the fourth product in the fourth slave placing groove according to the extending distance of 17.5mm;
and after all the fourth products are placed by analogy, placing the third products until the placement of all the products is completed; or after the placement of the fourth product is finished, obtaining a third product, placing the third product in a third slave placement groove of the first master placement groove in the same mode according to the same central position coordinate as the fourth product, and finishing the placement of each master placement groove according to the coordinate sequence after the placement of the first master placement groove is finished in the similar way.
Example III
Referring to fig. 2, another embodiment of the present invention provides a transfer device for SSD, including:
the acquisition module is used for acquiring SSD size information to be transferred and corresponding Tray disc information to be placed;
the first calculation module is used for obtaining the center position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placement groove on the Tray to be placed according to the SSD size information to be transferred;
the second calculation module is used for obtaining the center position of the main placement groove according to the Tray disc information to be placed; the main placing groove comprises a plurality of auxiliary placing grooves which are different in size and have the same vertical line in the center position;
the matching module is used for matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
and the placement module is used for aligning the center position of the SSD to be transferred with the center position of the slave placement groove and placing the SSD to be transferred in the slave placement groove of the Tray disk to be placed according to the depth information of the placement groove.
Example IV
Another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a transfer method of an SSD as described above.
Example five
Referring to fig. 3, another embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor implements each step in a method for transferring an SSD as described above when executing the computer program.
In summary, according to the method, the device, the readable storage medium and the electronic device for transferring the SSD provided by the invention, the center position and the width-to-length ratio information of the SSD to be transferred are further obtained by obtaining the SSD size information to be transferred and the corresponding Tray information to be placed, the coordinate system to be placed corresponding to the Tray to be placed is generated, the SSD size information to be transferred is matched with the Tray information to be placed to obtain the corresponding depth information, then the center position of the SSD to be transferred is aligned with the center position of the corresponding main placement groove in the Tray, the extending distance of the grabbing device such as a manipulator is controlled according to the depth information of the slave placement groove, and finally the product is placed in the corresponding slave placement groove, so that the SSD can be matched with the slave placement grooves with different sizes in the Tray and transferred, and the efficiency of the device for transferring the SSD is improved.
In the foregoing embodiments provided by the present application, it should be understood that the disclosed method, apparatus, computer readable storage medium and electronic device may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple components or modules may be combined or integrated into another apparatus, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with respect to each other may be an indirect coupling or communication connection via some interfaces, devices or components or modules, which may be in electrical, mechanical, or other forms.
The components illustrated as separate components may or may not be physically separate, and components shown as components may or may not be physical modules, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the components may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each component may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.

Claims (7)

1. A transfer method of an SSD, comprising the steps of:
acquiring SSD size information to be transferred and corresponding Tray information to be placed;
obtaining the central position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placing groove on the Tray to be placed according to the SSD size information to be transferred;
obtaining the central position of the main placing groove according to the information of the Tray to be placed, wherein the main placing groove comprises a plurality of auxiliary placing grooves with different sizes and the central positions on the same vertical line;
matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
aligning the center position of the SSD to be transferred with the center position of the slave placement groove, and placing the SSD to be transferred in the slave placement groove of the Tray disk to be placed according to the depth information of the slave placement groove;
the obtaining the SSD size information to be transferred and the corresponding Tray information to be placed includes:
acquiring the image information of the SSD to be transferred and the image information of the Tray;
obtaining SSD size information to be transferred according to the image information of the SSD to be transferred;
obtaining the Tray disc information to be placed according to the image information of the Tray disc, wherein the Tray disc information comprises the size information of the main placing groove;
the obtaining the center position of the main placement groove according to the to-be-placed Tray disc information comprises the following steps:
calculating the central position of the main placing groove according to the size information of the main placing groove;
the matching the SSD size information to be transferred with the slave placement groove, and obtaining depth information of the slave placement groove includes:
obtaining the size information of each slave placing groove according to the image information of the Tray;
comparing the SSD size information to be transferred with the size information of each slave placement groove until the size information of the slave placement groove matched with the SSD size to be transferred is obtained;
obtaining depth information of the secondary placement groove according to the size information of the secondary placement groove;
the step of obtaining the depth information of the secondary placement groove according to the size information of the secondary placement groove comprises the following steps:
establishing and storing a one-to-one correspondence between the preset size information of the secondary placement groove and the depth information of the secondary placement groove;
the obtaining the depth information of the secondary placement groove according to the size information of the secondary placement groove comprises the following steps:
matching preset size information of the secondary placement groove, which is identical to the size information of the secondary placement groove, according to the size information of the secondary placement groove;
and obtaining depth information of the secondary placing groove according to the preset size information of the secondary placing groove.
2. The method according to claim 1, wherein comparing the SSD size information to be transferred with the size information of each of the slave placement slots until the size information of the slave placement slot adapted to the SSD size to be transferred is obtained comprises:
obtaining the width-to-length ratio information of each secondary placement groove according to the image information of the Tray disk;
obtaining the width-to-length ratio information of the SSD to be transferred according to the SSD size information to be transferred;
and matching the width-to-length ratio information of the SSD to be transferred with the width-to-length ratio information of each slave placing groove to obtain the size information of the slave placing groove which is matched with the SSD to be transferred in size.
3. The method according to claim 1, wherein the placing the SSD to be transferred in the slave placement groove of the Tray to be placed according to the slave placement groove depth information includes:
acquiring the height information of the Tray;
obtaining placement space position information according to the height information of the Tray disk and the depth information of the placement groove;
and placing the SSD to be transferred in the slave placing groove of the Tray to be placed according to the placing space position information.
4. The transfer method of an SSD according to claim 1, wherein said aligning a center position of the SSD to be transferred with a center position of the slave placement groove comprises:
establishing a coordinate system to be placed according to the track disc information to be placed;
generating a central position coordinate of each main placing groove according to the coordinate system to be placed;
generating a position coordinate of each slave placing groove according to the central position coordinate of the master placing groove and the size information of the slave placing groove;
and aligning the central position of the SSD to be transferred with the central position of the slave placing groove according to the central position coordinates of the master placing groove and the position coordinates of the slave placing groove.
5. A transfer device of an SSD, comprising:
the acquisition module is used for acquiring SSD size information to be transferred and corresponding Tray disc information to be placed;
the first calculation module is used for obtaining the center position of the SSD to be transferred according to the SSD size information to be transferred, and matching the main placement groove on the Tray to be placed according to the SSD size information to be transferred;
the second calculation module is used for obtaining the center position of the main placement groove according to the Tray disc information to be placed; the main placing groove comprises a plurality of auxiliary placing grooves which are different in size and have the same vertical line in the center position;
the matching module is used for matching the SSD size information to be transferred with the slave placement groove to obtain depth information of the slave placement groove;
the placement module is used for aligning the center position of the SSD to be transferred with the center position of the slave placement groove and placing the SSD to be transferred in the slave placement groove of the Tray disk to be placed according to the depth information of the slave placement groove; the obtaining the SSD size information to be transferred and the corresponding Tray information to be placed includes:
acquiring the image information of the SSD to be transferred and the image information of the Tray;
obtaining SSD size information to be transferred according to the image information of the SSD to be transferred;
obtaining the Tray disc information to be placed according to the image information of the Tray disc, wherein the Tray disc information comprises the size information of the main placing groove;
the obtaining the center position of the main placement groove according to the to-be-placed Tray disc information comprises the following steps:
calculating the central position of the main placing groove according to the size information of the main placing groove;
the matching the SSD size information to be transferred with the slave placement groove, and obtaining depth information of the slave placement groove includes:
obtaining the size information of each slave placing groove according to the image information of the Tray;
comparing the SSD size information to be transferred with the size information of each slave placement groove until the size information of the slave placement groove matched with the SSD size to be transferred is obtained;
obtaining depth information of the secondary placement groove according to the size information of the secondary placement groove;
the step of obtaining the depth information of the secondary placement groove according to the size information of the secondary placement groove comprises the following steps:
establishing and storing a one-to-one correspondence between the preset size information of the secondary placement groove and the depth information of the secondary placement groove;
the obtaining the depth information of the secondary placement groove according to the size information of the secondary placement groove comprises the following steps:
matching preset size information of the secondary placement groove, which is identical to the size information of the secondary placement groove, according to the size information of the secondary placement groove;
and obtaining depth information of the secondary placing groove according to the preset size information of the secondary placing groove.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of a transfer method of an SSD as claimed in any of the claims 1-4.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of a method of transferring an SSD as claimed in any one of claims 1-4 when the computer program is executed by the processor.
CN202111264675.3A 2021-10-28 2021-10-28 SSD transfer method and device, readable storage medium and electronic equipment Active CN114013988B (en)

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